The obstacle degree of risk calculation device, environment around

摘要

PPROBLEM TO BE SOLVED: To accurately calculate the degree of danger in an area to be an obstacle candidate. PSOLUTION: An obstacle danger degree calculation device is provided with: a stereo image processor 1 for calculating parallax distribution information in the surroundings of a vehicle from a plurality of image data obtained by imaging the surrounding environment of the self-vehicle from different visual points; an obstacle candidate area generator 2 for generating a plurality of obstacle candidate areas from the parallax distribution information; and a danger degree calculator 6 for calculating the degree of danger from at least one of a first obstacle candidate, which is one of the plurality of obstacle candidate areas, a second degree of shielding, representing to what extent the first obstacle candidate area is shielded by a dangerous object recognized from the image data, and a second degree of shielding, representing to what extent the first obstacle candidate area is shielded by a preset dangerous object. PCOPYRIGHT: (C)2011,JPO&INPIT